4.0 KiB
!! Note !!
This library is currently in development for v1.0.0, for the documentation of v0.4.0 on crates.io, visit the docs.
ROS PointCloud2
A complete and versatile abstraction of PointCloud2.
To keep the crate a general purpose library for the problem, it uses its own type for the message PointCloud2Msg.
ROS1 and ROS2 is supported with feature flags.
Get started with the example below, check out the other use cases in the examples folder or see the Documentation for a complete guide.
Quickstart
The following example uses the iterator APIs. For memory bound pipelines, you may also try the try_from_vec or try_into_vec functions by enabling the derive feature.
use ros_pointcloud2::prelude::*;
// PointXYZ (and many others) are provided by the crate.
let cloud_points = vec![
PointXYZ::new(91.486, -4.1, 42.0001),
PointXYZ::new(f32::MAX, f32::MIN, f32::MAX),
];
// Give the Vec or anything that implements `IntoIterator`.
let in_msg = PointCloud2Msg::try_from_iter(cloud_points).unwrap();
// Convert the ROS crate message type, we will use r2r here.
// let msg: r2r::sensor_msgs::msg::PointCloud2 = in_msg.into();
// Publish ...
// ... now incoming from a topic.
// let in_msg: PointCloud2Msg = msg.into();
let new_pcl = in_msg.try_into_iter().unwrap()
.map(|point: PointXYZ| { // Define the type of point here.
// Some logic here ...
point
})
.collect::<Vec<_>>();
Integrations
There are currently 3 integrations for common ROS crates.
You can use rosrust and r2r by enabling the respective feature:
[dependencies]
ros_pointcloud2 = { version = "*", features = ["r2r_msg"]}
# or
ros_pointcloud2 = { version = "*", features = ["rosrust_msg"]}
rclrs (ros2_rust)
Features do not work properly with rcrls because the messages are linked externally. You need to use tags instead:
[dependencies]
ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.4.0_rclrs" }
Also, indicate the following dependencies to your linker inside the package.xml of your package.
<depend>std_msgs</depend>
<depend>sensor_msgs</depend>
<depend>builtin_interfaces</depend>
Please open an issue or PR if you want to see support for other crates.